forked from Archive/PX4-Autopilot
132 lines
3.9 KiB
C++
132 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Block.h
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*
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* Controller library code
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*/
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#pragma once
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#include <stdint.h>
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#include <inttypes.h>
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#include "List.hpp"
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namespace control
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{
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static const uint16_t maxChildrenPerBlock = 100;
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static const uint16_t maxParamsPerBlock = 100;
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static const uint16_t maxSubscriptionsPerBlock = 100;
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static const uint16_t maxPublicationsPerBlock = 100;
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static const uint8_t blockNameLengthMax = 80;
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// forward declaration
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class BlockParamBase;
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class UOrbSubscriptionBase;
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class UOrbPublicationBase;
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class SuperBlock;
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/**
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*/
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class __EXPORT Block :
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public ListNode<Block *>
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{
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public:
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friend class BlockParamBase;
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// methods
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Block(SuperBlock *parent, const char *name);
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void getName(char *name, size_t n);
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virtual ~Block() {};
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virtual void updateParams();
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virtual void updateSubscriptions();
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virtual void updatePublications();
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virtual void setDt(float dt) { _dt = dt; }
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// accessors
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float getDt() { return _dt; }
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protected:
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// accessors
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SuperBlock *getParent() { return _parent; }
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List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
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List<UOrbPublicationBase *> & getPublications() { return _publications; }
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List<BlockParamBase *> & getParams() { return _params; }
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// attributes
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const char *_name;
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SuperBlock *_parent;
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float _dt;
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List<UOrbSubscriptionBase *> _subscriptions;
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List<UOrbPublicationBase *> _publications;
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List<BlockParamBase *> _params;
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};
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class __EXPORT SuperBlock :
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public Block
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{
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public:
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friend class Block;
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// methods
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SuperBlock(SuperBlock *parent, const char *name) :
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Block(parent, name),
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_children() {
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}
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virtual ~SuperBlock() {};
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virtual void setDt(float dt);
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virtual void updateParams() {
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Block::updateParams();
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if (getChildren().getHead() != NULL) updateChildParams();
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}
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virtual void updateSubscriptions() {
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Block::updateSubscriptions();
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if (getChildren().getHead() != NULL) updateChildSubscriptions();
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}
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virtual void updatePublications() {
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Block::updatePublications();
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if (getChildren().getHead() != NULL) updateChildPublications();
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}
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protected:
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// methods
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List<Block *> & getChildren() { return _children; }
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void updateChildParams();
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void updateChildSubscriptions();
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void updateChildPublications();
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// attributes
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List<Block *> _children;
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};
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} // namespace control
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